Related papers: A Graph Attention Network-Based Framework for Reco…

Sparse LiDAR point clouds cause severe loss of detail of static structures and reduce the density of static points available for navigation. Reduced density can be detrimental to navigation under several scenarios. We observe that despite…

Few-Shot Industrial Visual Anomaly Detection (FS-IVAD) comprises a critical task in modern manufacturing settings, where automated product inspection systems need to identify rare defects using only a handful of normal/defect-free training…

Low dimensional primitive feature extraction from LiDAR point clouds (such as planes) forms the basis of majority of LiDAR data processing tasks. A major challenge in LiDAR data analysis arises from the irregular nature of LiDAR data that…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Depth completion is a key task in autonomous driving, aiming to complete sparse LiDAR depth measurements into high-quality dense depth maps through image guidance. However, existing methods usually treat depth maps as an additional channel…

High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery. Conventional Digital Surface…

In point cloud analysis tasks, the existing local feature aggregation descriptors (LFAD) are unable to fully utilize information in the neighborhood of central points. Previous methods rely solely on Euclidean distance to constrain the…

We consider the problem of few-viewpoint 3D surface reconstruction using raw measurements from a lidar system. Lidar captures 3D scene geometry by emitting pulses of light to a target and recording the speed-of-light time delay of the…

Graph Attention Networks (GATs) are the state-of-the-art neural architecture for representation learning with graphs. GATs learn attention functions that assign weights to nodes so that different nodes have different influences in the…

Vision Transformers (ViTs) have revolutionized computer vision, yet their self-attention mechanism lacks explicit spatial inductive biases, leading to suboptimal performance on spatially-structured tasks. Existing approaches introduce…

Graphs are useful for representing various realworld objects. However, graph neural networks (GNNs) tend to suffer from over-smoothing, where the representations of nodes of different classes become similar as the number of layers…

Time varying sequences of 3D point clouds, or 4D point clouds, are now being acquired at an increasing pace in several applications (e.g., LiDAR in autonomous or assisted driving). In many cases, such volume of data is transmitted, thus…

3D Gaussian splatting (3DGS) has demonstrated impressive performance in synthesizing high-fidelity novel views. Nonetheless, its effectiveness critically depends on the quality of the initialized point cloud. Specifically, achieving uniform…

Graph Attention Network (GAT) is one of the most popular Graph Neural Network (GNN) architecture, which employs the attention mechanism to learn edge weights and has demonstrated promising performance in various applications. However, since…

Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…

LiDAR scene generation is critical for mitigating real-world LiDAR data collection costs and enhancing the robustness of downstream perception tasks in autonomous driving. However, existing methods commonly struggle to capture geometric…

This paper investigates the problem of recovering hyperspectral (HS) images from single RGB images. To tackle such a severely ill-posed problem, we propose a physically-interpretable, compact, efficient, and end-to-end learning-based…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…